cl2 接入amr指令

src/modules/cl2/Cl23dObject.ts

@@ -5,6 +5,7 @@ import {mergeGeometries} from 'three/addons/utils/BufferGeometryUtils.js'
 import gsap from "gsap";
 import mqtt from 'mqtt';
 import {Euler} from "three/src/math/Euler";
+import Cl2Entity from "@/modules/cl2/Cl2Entity";
 
 export interface Cl2Task {
   // 0：运输 1：接货 2：卸货 3：充电 4：提升移栽取货或卸货 5：滚筒取货或卸货（双向作业） 135：旋转货架 136：旋转车身
@@ -355,28 +356,31 @@ export default class Cl23dObject extends THREE.Object3D {
     groupPillar.add(ptrForkMesh)
     this.add(groupPillar)
 
-    try {
-      // 安全连接配置
-      const client = mqtt.connect('mqtt://127.0.0.1:9001', {
-        path: '/mqtt',
-        clientId: 'virtual-' + item.id,
-        clean: true,
-        connectTimeout: 10000,
-        username: 'user',
-        password: 'user',
-        unixSocket: true,
-        keepalive: 60,
-      });
+    // try {
+    //   // 安全连接配置
+    //   const client = mqtt.connect('mqtt://127.0.0.1:9001', {
+    //     path: '/mqtt',
+    //     clientId: 'virtual-' + item.id,
+    //     clean: true,
+    //     connectTimeout: 10000,
+    //     username: 'user',
+    //     password: 'user',
+    //     unixSocket: true,
+    //     keepalive: 60,
+    //   });
 
 // 事件绑定
       client.on('connect', () => {
         console.log('Connected');
-        client.subscribe(['sensor/#', 'alerts'], { qos: 0 });
-        client.publish('status', 'online', { retain: true });
+        client.subscribe(['/wcs_server/' + item.id], { qos: 0 });
+        client.publish('/agv_robot/status', 'online', { retain: true });
       });
 
       client.on('message', (topic, msg) => {
         console.log(`[${topic}] ${msg}`);
+        const a = JSON.parse(msg.toString());
+        this.handleMessage(a);
+
       });
 
       client.on('error', (error) => {
@@ -488,23 +492,12 @@ export default class Cl23dObject extends THREE.Object3D {
     })
   }
 
-  getDirection(object: THREE.Object3D): 0 | 1 | 2 | 3 | 15 {
-    let ry = this.rotation.y
-
-    while (ry > Math.PI * 2) {
-      ry = ry - Math.PI * 2
-    }
-    while (ry < - Math.PI * 2) {
-      ry = ry + Math.PI * 2
+  handleMessage(data) {
+    if (data.id === 10010) {
+      const cl2: Cl2Entity = Model.getCl2("10") as Cl2Entity
+      cl2.addRobotTask(data)
+      cl2.taskStartRun()
     }
-    if (ry < 0) {
-      ry = Math.PI * 2 + ry
-    }
-    if (ry >= 0 && ry < Math.PI / 2) {
-      return 0
-    }
-
-    return 0;
   }
 
 }